hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

Lower limits by 50% for current and torque for gripper motor (#1809)

Browse Source 
Signed-off-by: Pepijn <138571049+pkooij@users.noreply.github.com>
This commit is contained in:
Pepijn
2025-08-29 16:06:55 +02:00
committed by GitHub
parent 61b0eeae4b
commit 882c80d446
2 changed files with 12 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
src/lerobot/robots/so100_follower/so100_follower.py
View File

@@ -161,6 +161,11 @@ class SO100Follower(Robot):
self.bus.write("I_Coefficient", motor, 0)
self.bus.write("D_Coefficient", motor, 32)
if motor == "gripper":
self.bus.write("Max_Torque_Limit", motor, 500) # 50% of max torque to avoid burnout
self.bus.write("Protection_Current", motor, 250) # 50% of max current to avoid burnout
self.bus.write("Overload_Torque", motor, 25) # 25% torque when overloaded
def setup_motors(self) -> None:
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")

7
src/lerobot/robots/so101_follower/so101_follower.py
View File

@@ -157,6 +157,13 @@ class SO101Follower(Robot):
self.bus.write("I_Coefficient", motor, 0)
self.bus.write("D_Coefficient", motor, 32)
if motor == "gripper":
self.bus.write(
"Max_Torque_Limit", motor, 500
) # 50% of the max torque limit to avoid burnout
self.bus.write("Protection_Current", motor, 250) # 50% of max current to avoid burnout
self.bus.write("Overload_Torque", motor, 25) # 25% torque when overloaded
def setup_motors(self) -> None:
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")